MOCK-UPS IN SUPPORT OF LONG- TERM REMOTE OPERATIONS...

|MOCK-UPS IN SUPPORT OF LONG TERM REMOTEOPERATIONS IN CHALLENGING ENVIRONMENTSFukushima Forum – August 2018

© UKAEA 2018

MOCK-UPS IN SUPPORT OF LONG-TERM REMOTE OPERATIONS INCHALLENGING ENVIRONMENTS

Dr Rob Buckingham FREng

Director UKAEA, Head of RACE

Fukushima Forum, 6 August 2018


© UKAEA 2018

PURPOSE

To think a bou thow m ock -u ps ca nbe u s ed to de-ris krem ote opera tions forlong term fu eldebris retrieva l

TOPICS• RACE’s u s e ofm ock -u ps a tUK AEAins u pportofrem ote

opera tions a tJ ET

• The m ethodolog y a nd principles tha tu nderpinu s e ofRACE m ock -u ps

• Obs erva tions tha tm a y be releva ntto 1F D-D

The next few minutes…

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“To lea d the com m ercia ldevelopm entoffu s ionpow era nd rela ted technolog y a nd pos itiontheUK a s a lea derins u s ta ina ble nu clea renerg y”

UK AEAhos ts J ET,the J ointEu ropea nToru s

UKAEA’s mission

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© UKAEA 2018

RACE at Culham,Oxfordshire, UK

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RACE is the UK AEA’s centre for

“Rem ote Applica tions ( =Robotics ) inCha lleng ing Environm ents ”


© UKAEA 2018

UKAEA has been atthe forefront ofremote handlingsystems technologyfor the past twodecades, using andupgrading state-of-the-art remotelyoperated and roboticsystems, validatedusing long termmock-ups.

JET Remote HandlingSystem

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Octant 5 Boom andMASCOT

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Octant 1 Boom

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Tools

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• 5 Opera tors• 1 M a s cotdriver

• 1 Ca m era a nd M a s cots u pport

• 2 Boom drivers

• 1 Res pons ible officer

• M a s term a nipu la tor

• ControlHM Is

• Ca m era s u ite

• VR s ys tem

• Opera tionsM a na g em entSys tem

Control room

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J ET is not1F

J ET is hig hly m a na g ed

J ET is clea n

J ET is low ra dia tion

J ET is s m a ller

J ET Rem ote Ha ndling Sys tem is s tillu niqu e

Itha s beenu s ed,m a inta ined a nd u pg ra ded for20 yea rs

Warning!

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© UKAEA 2018

Why?

Building trust

In-Vessel Training Facility (IVTF) that has beenused for two decades in support of remoteoperations at JET.Telescopic Articulated Remote Manipulator(TARM) is a unique hyper-redundant, slender, highpayload robotic system that is a physical mock-up forthe testing of software and control systems.

Mock-ups are important

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• Developm entofa ctivepos itioncontrols ys tem tom a nipu la te la rg e loa dsw ith low rela tive s tiffnes sto ~ 10 m m precis ion

• Tw o tes tend effectors• pa s s ive low frequ ency

res pons e to m otion

• a ctive controlla bleos cilla tory m otion

• Tria ls ofm u ltiple,redu nda nts ens ing

• Long erterm u s e a s ag eneric tes tpla tform

Telescopic ArticulatedRemote Manipulator

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© UKAEA 2018

The IVTF ha s beena nes s entia lcom ponentofthe J ETrem ote ha ndling s ys tem forthela s t20 yea rs .

Increm enta lly developed a ndcons ta ntly a da pted

Acritica la nd inva lu a ble fa cilityindeveloping the rem oteha ndling s ys tem a ndproces s es :

• Sa fe

• Proven

• Efficient( cos teffective)

• Tim ely

• Field-oriented

In-Vessel Training Facility

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Equ ipm entdevelopm ent

• RHS tooling developm enta nd va lida tion

• Com ponentfea s ibility s tu dies ,developm entverifica tiona nd va lida tion

Ta s k developm ent

• Com ponentm a nipu la tiona nd ha ndling tria ls .

• Ta s k g enera tion,verifica tiona nd va lida tion

• Fa ilu re a nd recovery s cena rio verifica tion

• Boom tea ch file verifica tion.

Tra ining

• Opera tors electioninterview s

• Opera tortra ining

• Opera tors k illretention

• Opera tora s s es s m ent

Opera tions

• Anom a ly u nders ta nding a nd inves tig a tion

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In-Vessel Training Facility


© UKAEA 2018

Validation and Verification

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RequirementsSpecification

DesignSpecification

Built ProductStakeholder

Requirements

Requirement Validation‘Are we building the right thing?’

Design Validation‘Do we have the right design?’ Product Validation

‘Did we build the right thing?’

Requirementsguidelines and

standards

Designguidelines and

standards

Buildguidelines and

standards

Product Verification‘Did we design/build it right?’


© UKAEA 2018

Invested observers. Anyone who is interested in the activity itself but who isunlikely to know the details of particular operational plans, hardware or specificoperational procedures. An invested observer is most likely to be interested in theoutcome of an activity.

Regulators. This group has been separated from invested observers andapprovers to indicate their separate regulatory function.

Approvers. We assume that there is an independent group of approvers whoshould know the details of particular hardware or specific operational proceduresso that they can make an informed independent assessment of operational plans.

Operation's management. This is the group of suitable qualified and experiencepeople (SQEP) who should be expected to know the details of particular hardwareand specific operational procedures with oversight of operations.

Operators. This is the group of SQEP who should be expected to know the detailsof particular hardware and specific operational procedures and be able to operatethe hardware.

Developers. This includes the original equipment design team and developersinvolved in modification, upgrade and ancillary system developments.

Stakeholder Engagement

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© UKAEA 2018

• Approva lofcom plexhig hris k projects s u ch a s fu eldebris retrieva la t1-Frequ ire a u thoris a tiona thig h levels from fina ncia l,politica la nd reg u la torys ta k eholders .

• Phys ica ldem ons tra tioncom m u nica tes thecom pletenes s a ndthorou g hnes s ofas olu tions u ccinctly a nda cces s ibly ina w a y tha tcom plexpa pers tu diesw illfind difficu ltto m a tch.

The Purpose of Mock-UpsStakeholder engagement

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Functional mock-ups seek to test thefunctionality of the system or sub-systems

• Us u a lly s horterterm

• Replica tes only im m edia te interfa ces

• Us u a lly u s ed inea rlierprojectpha s es

• Us ed by developm enttea m forfocu s edtechnolog y a nd des ig ndevelopm ent

Environmental - operational mock-upsseek to replicate the environment in which asystem will work

• Us u a lly long erterm

• Replica tes w iderenvironm ent

• Us u a lly u s ed inla terprojectpha s es tos u pportopera tions

• Us ed by a w ide ra ng e ofs ta k eholders fordem ons tra tion,va lida tiona nd tra ining

• Allow s broa d inves tig a tioninclu dingu nintended cons equ ences a nd hu m a nfa ctors

Mock-Up Types

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© UKAEA 2018

• Bu ild confidence ina nu ncerta inenvironm ent

• Identify w hereopera toru ncerta intyoccu rs a nd tes tm itig a tions

• Identify a nd im proves pecific u s a bilityis s u es

• Identify a nd preventopera tor‘w orka rou nds ’

The Purpose of Mock-UpsIntegrating operators

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The 1F PCVs w illpres enta la rg enu m berofu nk now ns a ndu ncerta inties

M ock -u ps pla y a s ig nifica ntrole inredu cing thes e a s w ella su nders ta nding a nd im provingcollective rea ctions a nd res pons es

• K now nUnk now ns• Identify fa ilu re m odes• Pra ctice a nd develop

recovery a nd res cu es equ ences

• Unk now nUnk now ns• Intentiona lly introdu ced

a nom a lies a llow tes ting ofopera torres pons e

• Ca ptu re firs ttry ‘fa ilu re’• Unk now nu nk now nproces s

The Purpose of Mock-UpsUnknown unknowns

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© UKAEA 2018

• Extens ive tria lling ofa llidentified fa ilu re s cena riosoccu rs w ithinIVTF

• Tes ting oftools w hich ha vethe inherentris k ofbecom inga tta ched to the environm entors tra nded is vita l

• Althou g h 1F’s rea ctors a rea lrea dy inopera ble,u nrecovera ble equ ipm entincrea s es the w a s teinventory,incu rs cos t,a ndpotentia lly hinders fu rtheropera tions

• ‘G etting ou tis m oreim porta nttha ng etting in’

The Purpose of Mock-UpsRecovery from failure

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© UKAEA 2018

• Ha ve a nd m a inta inclea robjectives• As tru ctu red,ris k -ba s ed a pproa ch s hou ld be

u s ed to determ ine objectives .

• Us e ofm ock -u ps s hou ld be res u lts led,flexiblea nd a g ile s ince interm edia te res u lts m a yrequ ire cha ng es .

• Itis im porta ntto m a tch the rea lopera tionss chedu le a nd fa cility s chedu le.

• Alow erres olu tionou tpu ta tthe rig httim e m a ybe bettertha na nexa cta ns w ertha tis too la te.

• Letobjectives dicta te s tru ctu re,depth a ndm a teria ls

• Loca tion• To bu ild s ha red confidence a cces s ibility ofa

pa rticu la rs ta k eholderm a y be im porta nt:

• Fu nctiona ltes ts clos e to developer

• Long term opera tiona ltes ta nd developm entclos e to opera tor

Making Mock-Ups Work

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© UKAEA 2018

• AtJ ET the a ctu a lequ ipm entca nu s ed fortra ining inthe IVTF m ock -u p du e tothe low levelofconta m ina tion

• AtFu k u s him a the equ ipm entis lik ely to becom e hig hly conta m ina ted• Equ ipm entw illneed to be m a inta ined,check ed a nd re-va lida ted a nd this m a y

m ea nm oving equ ipm entfrom the rea ctorto a s epa ra te fa cility

• Ifopera tions equ ipm entis nota va ila ble fortra ining ,a dditiona ls ys tem s w illbeneeded

• Sim u la tors m a y provide a na lterna tive fors om e elem ents ofthe tra ining

• As a m inim u m ,there is a need forfou ra ctivities :• As s em bly a nd tes tofclea nm a chines ,inclu ding s tores a nd w ork s hops

• Tes ting ofclea nm a chines w ithinm ock -u ps

• M a intena nce ofconta m ina ted m a chines ,inclu ding s tores a nd w ork s hops

• Tes ting ofconta m ina ted m a chines

• Ea ch ofthes e s pa ces w illneed to be m a na g ed a nd m a inta ined,idea lly by thes a m e tea m

Clean andContaminated Systems

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© UKAEA 2018

Long term phys ica lm ock -u ps ena ble efficientres pons e to cha ng es inthrou g h-life opera tiona lrequ irem ents . M ock -u ps ena ble ha rdw a re to beim proved a nd s k ills to be enha nced a nd m a inta ined.

Firs tinterventions into the 1F rea ctors w illbe ha rd toa pprove beca u s e the u nk now n-u nk now ns m ea ntha titw illnotbe pos s ible to m itig a te a llthe ris k s . Inthiscontext,the principle pu rpos e ofea rly phys ica lm ock -u ps is to bu ild s ha red s ta k eholderconfidence tha tena bles a collective decis ionto s ta rt.

Summary

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MOCK-UPS IN SUPPORT OF LONG- TERM REMOTE OPERATIONS...

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